Manipulation with contact is essential for robotics, where impedance controlImpedance is used to refer to general physical interaction control, i.e., both impedance and admittance control. is often paramount to robust and safe execution. This is especially critical in tasks that involve physical human-robot interaction (HRI), where the robot compliance allows the human co-worker to safely affect robot motion for teaching or online collaboration. Impedance control defines the characteristics of physical interaction by stiffness, damping, and inertia parameters [1]}. These parameters must be appropriately adapted to an application, with a large number of proposed rules to determine appropriate impedance parameters. Nevertheless, the tuning of these parameters is often done in practice with ad-hoc or application-specific methods.
